Designing and implementing a robot gripper using additive manufacturing
Gerland, Bastian (2017)
Gerland, Bastian
Tampereen ammattikorkeakoulu
2017
All rights reserved
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-201703273754
https://urn.fi/URN:NBN:fi:amk-201703273754
Tiivistelmä
This Bachelor’s thesis contains the designing and manufacturing of a new robot gripper for TAMK’s open lab welding robot to have an alternative to the current gripper that is in use. The main goal was to manufacture as many parts as possible from additive manufacturing. The customer’s requirements of the gripper were that it is able to pick up an 80 mm wide and 1 kg heavy object by also being lighter than the current gripper in use at the laboratory. The design process is based on the VDI 2221 guidelines which state the steps of the systematic approach to the development and design of technical systems and products created by the Association of German Engineers.
After acquiring the basic knowledge about this thesis, a clear statement about the scope and the marginal conditions of this work is provided. A requirements list then states all the demands and desires of the gripper before the reader finds a breakdown of the different functions and systems of the workpiece. A morphological box was created to collect ideas for the product which resulted in two possible design-solutions. The solution meeting the requirements best is further used to start designing a prototype. Once the prototype was tested and agreed on by the customer the designing of the final product started.
Calculations of the most critical parts are demonstrated and prove the safety of the construction. After finding the documentations about the safety features, the drive-system and the costs, the reader is given an insight of the manufacturing of the 3D-printed parts. The final version of the gripper was then tested and implemented into the open lab.
After acquiring the basic knowledge about this thesis, a clear statement about the scope and the marginal conditions of this work is provided. A requirements list then states all the demands and desires of the gripper before the reader finds a breakdown of the different functions and systems of the workpiece. A morphological box was created to collect ideas for the product which resulted in two possible design-solutions. The solution meeting the requirements best is further used to start designing a prototype. Once the prototype was tested and agreed on by the customer the designing of the final product started.
Calculations of the most critical parts are demonstrated and prove the safety of the construction. After finding the documentations about the safety features, the drive-system and the costs, the reader is given an insight of the manufacturing of the 3D-printed parts. The final version of the gripper was then tested and implemented into the open lab.